CN102849009A - Early warning and protection system for rear-end collision in expressway and control method - Google Patents
Early warning and protection system for rear-end collision in expressway and control method Download PDFInfo
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Abstract
The invention discloses an early warning and protection system for rear-end collision in an expressway and a control method. The early warning and protection system comprises a driver road condition selection module, an environmental monitoring module, a master control module and an execution module. Driver road condition selections comprise a dry road surface, a wet road surface and an ice and snow road surface. A driver selects corresponding switch positions according to the practical road surface situations, a laser range finder measures the distance between a vehicle of the driver and a rear vehicle in real time; a real-time critical safety following distance obtained according to the distance information, speed information of the vehicle, and the road surface selection switch position information is compared with the measured practical following distance; and a high brake lamp and an active safety headrest trigger unit are turned on according to the danger level. The early warning and protection system reduces the probability of rear-end accidents in the expressway to the greatest extent, and minimizes injuries of drivers and passengers when the rear-end accidents happen.
Description
Technical field
The invention belongs to field of automobile safety, particularly relate to and prevent knock into the back when the car early warning and be take the initiative a kind of system of formula self-protection measure of imminent collision of rear car on the express highway.
Background technology
In recent years, along with the continuous growth of automobile pollution, the trap for automobile traffic accident is the trend that rises year by year.In various traffic accidents, rear-end impact occupies very high ratio.Show that according to investigations the express highway rear-end impact of China number has occured accounted for total accident and rise severally 33.6%, its economic loss that causes accounts for total 40%.On the one hand, very little by the take the initiative possibility of collision avoidance measure of the vehicle that knocks into the back when rear-end collision occurs the driving situation that express highway is complicated and changeable, thus, the early warning of preventing collision seems particularly important on the express highway.The utility model patent that on January 12nd, 2011, the patent No. was CN201703340 U discloses a kind of Anti-tail collision for automobiles, although this device has warning function, but its traffic safety spacing is preset as definite value, and the response situation of the situation of controlling of each car and chaufeur all is different on the actual express highway, traffic safety spacing difference is very large, should in the light of actual conditions automatically identify, the size of hazard level is compared and then judged to the actual spacing that laser rangefinder is measured and predefined safe distance between vehicles, can only take a part for the whole, will certainly cause a lot of false-alarms or not alert, there are major safety risks in turnpike driving.On the other hand, in rear-end collision, the driver and crew's of the vehicle that knocked into the back head and neck whiplash injury is a kind of extremely common injury, has investigation to confirm, in 26% the rear-end collision, driver and crew's head and neck can be injured.For preventing the generation of this injury, SAHR is arisen at the historic moment.A kind of car seat headrest that Chinese invention patent CN101712290A announces; by at back of seat trigger mechanism being set; when automobile bumps; because occupant's back inertia is the mobile trigger mechanism of touching on the back of seat backward; trigger thus and start the telescoping mechanism that is attached thereto; make chair headrest realize automatically fast reach, reach and avoid occupant's neck to suffer whiplash injury, effectively protect occupant's purpose.But this headrest is according to collision signal to occur; and rely on the energy deactivation that collides when occuring to rest the head on; this control system that just starts headrest in the collision generation inevitably exists the danger of startup hysteresis, and such headrest is difficult to protect the safety of head and neck.Moreover not all anti-early warning of knocking into the back can both play a positive role, and only has knock into the back early warning and protection are combined the Loss of Life and property in the probability of occurrence of the more efficiently minimizing rear-end collision of ability and the reduction rear-end collision.
Summary of the invention
The present invention is directed to the single early warning of knocking into the back of above existence; unilateral express way driving safety spacing method to set up and active safety headrest startup hysteresis etc. have the problem of significant impact to preventing collision; system and the control method of the early warning of a kind of express highway rear-end impact and the effective combination of protection are provided; this system can utilize environment monitoring modular Real-Time Monitoring vehicle condition and traffic information; and judge real-time and accurately the hazard level that rear garage advances according to the feed forward control algorithm, and then before knocking into the back, rear car is warned and the inevitable rear-end impact of judging is carried out driver and crew's active protection.
In order to address the above problem, the present invention has adopted the early warning of a kind of express highway rear-end impact and protective system, selects module, environment monitoring module, main control module and execution module comprising the chaufeur road conditions.Instrument carrier panel at operator's compartment arranges a road surface select switch, comprises dry pavement, moist road surface, and three kinds of situations of ice and snow road, namely the chaufeur road conditions are selected module; Environment monitoring module comprises laser distance measuring system and from the vehicle speed sensor; Main control module is Single Chip Microcomputer (SCM) system; Execution module is active safety headrest trigger element and high-mount brake lamp.After vehicle sails express highway into, chaufeur is selected the corresponding switch position according to actual road surface situation, be installed in the in real time measurement of laser rangefinder of automobile tail from the distance of car and rear car, range information, be admitted to together the main control module pre-set programs from car speed information and road surface select switch location information and process, the real-time critical safety distance that obtains and the actual spacing of measurement compare, and according to the startup with active safety headrest trigger element of lighting of the size of hazard level control high-mount brake lamp.
The road surface select switch divides three kinds of patterns, three kinds of switch position correspond respectively to drying, the distinct program algorithm corresponding to different road surfaces situation to take into account most driving situation, is preset in humidity and three kinds of road surfaces of ice and snow in the main control module of rear-end impact early warning and protective system.The position of the road conditions select switch of selecting according to chaufeur, main control module is selected different automatically
Value is specifically processed concrete road conditions and driving situation, thereby is had more specific aim.
One of native system execution unit is for being installed in the high-mount brake lamp above the vehicle tail, described high-mount brake lamp, adopt the LED cold light source, response time is very short, can strive for the more reaction time for the rear car that quickly travels on the express highway as much as possible, fast speed is implemented braking in order to can find early the early warning of front vehicles, and the light on and off of the high-mount brake lamp that causes of the light on and off of described native system high-mount brake lamp and brake signal are relations in parallel, namely is independent of each other; Two the active safety headrest trigger element of native system execution unit can be electromagnet or motor.
The built-in cover control method of the present invention, early warning and protection step are as follows:
(1) the select switch position, different road surface of selecting according to chaufeur, main control module is selected corresponding coefficient of road adhesion automatically
(2) car is with respect to the range information from car after the laser rangefinder collection, and the speed sensor collection is from vehicle speed information;
(3) information that passes over according to environment monitoring module and road surface select switch of the main control module of micro controller system, according to pre-set program, calculate real-time critical safety distance S1 and S2, judge S1, relation between S2 and the actual spacing S, according to the magnitude relationship between the three, whether the execution of control execution module.
As preferably, the built-in pre-set programs of described main control module is divided into two kinds of situations with the braking model of rear car, a kind of is that air pressure drives braking model based on rear car, another kind of is the hydraulic-driven braking model based on rear car, the actual time safety spacing of program measuring and calculating was set to critical safety distance S1 when rear car was hydraulic braking, and the actual time safety spacing of program measuring and calculating was set to critical safety distance S2 when rear car was compression air brake.The information that provides according to environment monitoring module, calculate the relative velocity of two cars by the main control module pre-set programs, according to the velocity information from car, calculate real-time critical safety distance S1 again, the size of S2, and judge S1, the magnitude relationship of S2 and the actual spacing S of driving is according to magnitude relationship, judge the hazard level that rear-end impact occurs, when S＞S2, be the traffic safety condition, the performance element attonity; When S1＜S≤S2, for the driving general condition, at this moment, only rear car is warned; When S≤S1, be the driving disavantage, at this moment, not only to continue caution to rear car, also need taking safeguard procedures from car, namely control the startup with active safety headrest trigger element of lighting of high-mount brake lamp by the connection of electromagnetic relay II.So; this rear-end impact system is with first early warning; the mode of rear execution is protected from car collision that may be subject to and that be subject to; the effectively misoperation of reduce false alarm and active safety headrest; reduce to greatest extent the probability of occurrence of rear-end collision on the express highway, the driver and crew's injury so that rear-end collision is occured is down to minimum.
The described real-time critical safety distance S1 of native system and S2 are calculated as follows:
In the formula, the actual time safety spacing of program measuring and calculating when S1 is based on rear car and is hydraulic braking; The actual time safety spacing of program measuring and calculating when S2 is based on rear car and is compression air brake;
Be the velocity amplitude from car, by recording from the vehicle speed sensor;
Be the speed of rear car, try to achieve by relative velocity with from the vehicle speed value, and relative velocity can obtain jointly according to the acquisition time that distance value and the micro controller system timer of the interruption of laser rangefinder survey time are set;
The maximum braking deceleration value from car,
, g is acceleration due to gravity,
Be coefficient of road adhesion,
Value depend primarily on the material of road, the situation on road surface and the factors such as speed of tire construction, tread contour, material and automobile sport, rule of thumb value is set in advance in the national standard scope, as based on present most of vehicle the abs braking antiblock device being housed all, vehicle can guarantee that sliding ratio between wheel and the ground is 15% to 25%, like this, corresponding to drying, humidity and ice and snow road
Span be respectively: 0.7-0.9,0.4-0.7 and 0.1-0.2.In view of the most of driving situations of express highway, when
During 80km/h, control program is automatically with corresponding
Value is set as 0.85,0.6 and 0.15, when
During 〉=80km/h, can be with correspondence
Value is set as 0.7,0.45 and 0.1.
Speed sensor among the present invention also can directly save, but the speed signal line of automobile is directly linked to each other with micro controller system by I/O interface or serial interface, reduce so as far as possible the number of external device and the cost of system, only need to increase software programming and can easily realize to effective utilization of velocity amplitude with to the direct control of hardware.Simultaneously for complexity, the polytropy of tackling express highway up train situation and the driving critical safety distance model that is gradually improved, we can directly reserve the program download interface, in update software system at any time with when realizing hardware controls, existing problem etc. when can also diagnostic system influenced.
The actual spacing that native system detects in real time is during less than critical safety distance S1; just at once active safety headrest trigger element is started; can satisfy the requirement that the response of active safety headrest is put in place, and then effectively protect driver and crew's head and neck.
The range finder module of native system adopts laser rangefinder, and it is large to have a range of measurement, and the survey precision advantages of higher can satisfy the requirement of express highway range finding fully.
The invention has the beneficial effects as follows the native system working stability; control process is realized intellectuality substantially; driver and crew are except choosing the select switch of road surface according to the road surface situation; do not need other artificial interventions; can automatically monitor the driving situation of rear car from car, rear car be implemented security warning, if rear-end impact is inevitable in good time; can also rest the head on from headstock by pre-cooling, effectively protect driver and crew's head and neck to avoid whiplash injury.This system uses the generation that can not only effectively reduce rear-end collision, and can avoid the danger of SAHR startup hysteresis, improve to greatest extent the safety of express-road vehicle running, and because control algorithm is easy to realize, so can in the vehicle of generalization, promote.
Description of drawings
Fig. 1 is structural representation of the present invention.
Fig. 2 is workflow diagram of the present invention.
The specific embodiment
Describe with reference to the accompanying drawings the specific embodiment of the present invention in detail.
As shown in Figure 1, the early warning of this express highway rear-end impact and protective system comprise road surface select switch 1, laser rangefinder 2, and from speed sensor 3, micro controller system 4, electromagnetic relay I 8, electromagnetic relay II 5, high-mount brake lamp 7, active safety headrest trigger element 6.Road surface select switch 1 is installed on the Automobile instrument, and directly link to each other with micro controller system 4 by the I/O mouth, laser rangefinder 2 is installed on the automobile rear bumper, and link to each other with micro controller system 4 with the external equipment communication interface by micro controller system, directly link to each other with micro controller system 4 by the I/O mouth from vehicle speed sensor 3, the input end of electromagnetic relay I 8 links to each other with micro controller system 4 by the I/O mouth, mouth is connected directly to high-mount brake lamp 7, the input end of electromagnetic relay II 5 links to each other with micro controller system 4 by the I/O mouth, and mouth is connected directly to high-mount brake lamp 7 and active safety headrest trigger element 6.
As shown in Figure 2, in the Vehicle Driving Cycle process, the range information of two cars before and after laser rangefinder 2 Real-time Collections, computational analysis through pre-set programs in the main control module, draw the relative velocity of two cars, basis is from the velocity information of car and the location information of road surface select switch again, calculate in real time critical safety distance S1, S2, relatively S1, the magnitude relationship of S2 and the actual spacing S of driving is judged the hazard level that rear-end impact occurs, when S＞S2, traffic safety, performance element attonity, neither early warning, also do not protect, but the continuation of returning rear spacing detects and judges; When S1＜S≤S2, satisfy the driving general condition, at this moment, main control module closed electromagnetic relay I 8 is connected high-mount brake lamp 7, and rear car is carried out moving car alarm; When S≤S1, the lower limit that shows the not enough critical safety distance of actual spacing, at this moment, main control module closed electromagnetic relay II 5 is connected high-mount brake lamp 7 and active safety headrest trigger element 6, continue on the one hand rear car is warned, point out it to brake as early as possible, minimum so that the accident infringement is down to, on the other hand, the more important thing is the active safety headrest trigger element 6 that starts from car, as early as possible to this car driver and crew formula safeguard procedures of taking the initiative.
Existing casehistory the specific embodiment of the present invention:
When
The time, the size of S1 and S2 with
Value it doesn't matter, namely
The time, no matter where the road surface select switch is in, and the size of S1 and S2 only depends on
Perhaps
Size.For example:
The time, S1=30.56m, S2=38.89m, at this moment, if S
38.89m the time, performance element attonity then, neither early warning is not protected yet, and continues to return detection and the judgement of rear spacing; If during 30.56m＜S≤38.89m, then main control module closed electromagnetic relay I 8, connect high-mount brake lamp 7, rear car is carried out moving car alarm; If during S≤30.56m, then main control module closed electromagnetic relay II 5, connect high-mount brake lamp 7 and active safety headrest trigger element 6, continue on the one hand rear car is warned, point out it to brake as early as possible, minimum so that the accident infringement is down to, on the other hand, startup is from the active safety of car headrest trigger element 6, as early as possible to this car driver and crew formula safeguard procedures of taking the initiative.
When
The time, the size of S1 and S2 not only with
With
Value relation is arranged, but also with
Value relation is arranged, namely with the residing position of road surface select switch relation is arranged.As:
=100km/h,
During=120km/h, when condition of road surface is dry, humidity and ice and snow,
Value be respectively 0.7,0.45 and 0.1, as follows corresponding to the numerical value of three groups of S1 under three kinds of condition of road surfaces and S2:
At this moment, the warning under three kinds of condition of road surfaces and protection relation are as follows:
Dry pavement:
Moist road surface:
Ice and snow road:
Claims (6)
1. express highway rear-end impact early warning and protective system is characterized in that, comprise road surface select switch (1), laser rangefinder (2), micro controller system (4), electromagnetic relay I (8), electromagnetic relay II (5), high-mount brake lamp (7), active safety headrest trigger element (6); Described road surface select switch (1) is installed on the Automobile instrument, and directly link to each other with micro controller system (4) by the I/O mouth, described laser rangefinder (2) is installed on the automobile rear bumper, and links to each other with micro controller system (4) by the external equipment communication interface of micro controller system; The speed signal line of automobile directly links to each other with micro controller system by I/O interface or serial interface; The input end of described electromagnetic relay I (8) links to each other with micro controller system (4) by the I/O mouth, mouth is connected directly to high-mount brake lamp (7), the input end of described electromagnetic relay II (5) links to each other with micro controller system (4) by the I/O mouth, and mouth is connected directly to respectively high-mount brake lamp (7) and active safety headrest trigger element (6).
2. rear-end impact early warning according to claim 1 and protective system is characterized in that, also comprise from vehicle speed sensor (3), describedly directly link to each other with micro controller system (4) by the I/O mouth from vehicle speed sensor (3).
3. rear-end impact early warning according to claim 1 and 2 and protective system is characterized in that, described high-mount brake lamp (7) adopts led light source, are installed in the top of vehicle tail.
4. control method of implementing express highway rear-end impact claimed in claim 2 early warning and protective system is characterized in that concrete steps are as follows:
Chaufeur is selected different road surfaces by road surface select switch (1), and such as the position of drying, humidity and three kinds of switches of ice and snow, main control module is selected corresponding coefficient of road adhesion automatically
Car gathered from vehicle speed information from vehicle speed sensor (3) with respect to the range information from car after laser rangefinder (2) gathered;
The information that the main control module of micro controller system (4) passes over according to environment monitoring module and road surface select switch, according to pre-set program, calculate respectively real-time critical safety distance S1 and S2 under hydraulic pressure and the pneumatic two kinds of braking models, judge the relation between S1, S2 and the actual spacing S;
When S＞S2, be the traffic safety condition, micro controller system (4) performance element attonity; When S1＜S≤S2, be the driving general condition, micro controller system (4) is only controlled lighting of high-mount brake lamp by the connection of electromagnetic relay I; When S≤S1, be the driving disavantage, micro controller system (4) is controlled the startup with active safety headrest trigger element of lighting of high-mount brake lamp by the connection of electromagnetic relay II;
The control method of express highway rear-end impact according to claim 4 early warning and protective system is characterized in that: described real-time critical safety distance S1 and S2 are calculated as follows:
In the formula, the actual time safety spacing of program measuring and calculating when S1 is based on rear car and is hydraulic braking; The actual time safety spacing of program measuring and calculating when S2 is based on rear car and is compression air brake;
Be the velocity amplitude from car, by recording from the vehicle speed sensor;
Be the speed of rear car, try to achieve by relative velocity with from the vehicle speed value that relative velocity can obtain jointly according to the acquisition time that distance value and the micro controller system timer of the interruption of laser rangefinder survey time are set;
The maximum braking deceleration value from car,
, g is acceleration due to gravity,
Be coefficient of road adhesion.
5. the control method of express highway rear-end impact according to claim 5 early warning and protective system is characterized in that: corresponding to dry, humidity and ice and snow road,
Span be respectively: 0.7-0.9,0.4-0.7 and 0.1-0.2.
6. the control method of express highway rear-end impact according to claim 5 early warning and protective system is characterized in that: in the turnpike driving situation, and corresponding to dry, humidity and ice and snow road, when
During 80km/h, control program is automatically with corresponding
Value is set as 0.85,0.6 and 0.15, when
During 〉=80km/h, program is with correspondence
Value is set as 0.7,0.45 and 0.1.
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